# A Survey of Autonomous Driving: Common Practices and Emerging Technologies

“A Survey of Autonomous Driving: Common Practices and Emerging Technologies” (2020), by Ekim Yurtsever et al. Engineering research paper. Original abstract below, unchanged. A free PDF is available.

- Authors: Ekim Yurtsever, Jacob Lambert, Alexander Carballo, Kazuya Takeda
- Published: January 1, 2020
- Field: Engineering
- DOI: https://doi.org/10.1109/access.2020.2983149
- Free PDF: https://arxiv.org/pdf/1906.05113

## Abstract

Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art is improved further. This paper discusses unsolved problems and surveys the technical aspect of automated driving. Studies regarding present challenges, high-level system architectures, emerging methodologies and core functions including localization, mapping, perception, planning, and human machine interfaces, were thoroughly reviewed. Furthermore, many state-of-the-art algorithms were implemented and compared on our own platform in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS development.

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